A motorized joint having two degrees of freedom in rotation connecting two elements is provided. The joint includes two pivot connections such that a first one of the pivot connections establishes a first pivot axis, and a second one of the pivot connections establishes a second pivot axis. The first pivot axis is not parallel to the second pivot axis. A first motor is disposed in fixed relation to a first one of the two elements and has a drive shaft aligned with a first drive axis so as to cause by means of a first speed reducer with parallel axes the two elements to rotate about the first pivot axis. A second motor having a second drive shaft aliened with a second drive axis parallel to the first drive axis of the first motor is affixed to an output portion of the first speed reducer for axial rotation therewith about the first pivot axis so as to cause by means of a second speed reducer including a bevel gear relative rotational movement of the two elements with respect to one another about the second pivot axis. Also, the joint may be implemented as part of a humanoid robot.